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Allow in-place computation for mju_mulQuat and mju_mulQuatAxis

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PiperOrigin-RevId: 471222168
Change-Id: If43210636cf20000b343ad1efd02836465380ebe
This commit is contained in:
Yuval Tassa
2022-08-31 04:08:28 -07:00
committed by Copybara-Service
parent 366e1c53d4
commit fdbbc8bbe0
3 changed files with 31 additions and 11 deletions
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doc/changelog.rst
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@@ -49,7 +49,8 @@ General
- Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
- Added a disable flag for sensors.
- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
|br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
Deleted/deprecated features
^^^^^^^^^^^^^^^^^^^^^^^^^^^